Robot Arm Interference Avoidance via Distance Sensing
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Solution Overview
Problem
Existing robot systems lack the capability to prevent objects from being sandwiched between robot arms, leading to unintentional operating restrictions and potential interference.
Innovation Solution
A robot system equipped with at least two links that are relatively moved by a joint, featuring a sensor to detect distances between the links and an object, and a control unit that performs an interference avoidance operation if the detected distances are less than a predetermined threshold, restricting the robot's operation to prevent sandwiching.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If no distance detection system is installed, then the robot system has simpler structure and lower cost, but objects can be sandwiched between robot arms causing interference
Solution Approach 1:
The distance sensor detects objects before the robot arms make contact, allowing the control unit to issue warnings or restrict operations in advance. This preliminary detection prevents object sandwiching without requiring complex real-time intervention systems during arm movement.
Solution Approach 2:
A distance sensor acts as an intermediary between the robot arms and objects, providing the control unit with spatial information. This intermediary device enables safe operation by mediating the interaction between moving arms and stationary objects through measured distance data.
2Measurement precision
If distance sensors are installed on all link surfaces, then detection accuracy is improved, but device complexity and manufacturing cost increase
Solution Approach 1:
Instead of uniformly distributing sensors across all link surfaces, the system applies sensors strategically at critical locations where object sandwiching is most likely to occur. This localized approach maintains detection accuracy for safety-critical zones while reducing overall system complexity and cost.
3Reliability
If the robot system restricts operations whenever objects are detected nearby, then object sandwiching is prevented, but productivity decreases due to unnecessary operating restrictions
Solution Approach 1:
The control unit receives continuous distance feedback and dynamically adjusts robot operations based on real-time spatial conditions. When objects are detected within safe distances, the system issues warnings or restricts movements only when necessary, allowing normal operation to continue when safe, thus balancing safety with productivity.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system effectively reduces the possibility of interference and prevents objects from being sandwiched between the links, enhancing operating efficiency by accurately detecting distances and restricting operations only when necessary.
Implementation Method 1
a non-contact distance sensor that is disposed in the vicinity of the joint and that measures the object distance to each position on the surface of the object inserted between the links
Data Source
AI summary
An object is prevented from being sandwiched between robot arms without the occurrence of unintentional operating restrictions of the robot arms. Provided is a robot system including: a robot body that is provided with at least two links that are relatively moved by at least one joint; a sensor that detects the distances from mutually opposed surfaces of the at least two links to an object inserted between the surfaces; and a control unit that performs an interference avoidance operation if the distances detected by the sensor are less than a predetermined threshold.